CN106892019A - Sniffing robot - Google Patents
Sniffing robot Download PDFInfo
- Publication number
- CN106892019A CN106892019A CN201710125319.0A CN201710125319A CN106892019A CN 106892019 A CN106892019 A CN 106892019A CN 201710125319 A CN201710125319 A CN 201710125319A CN 106892019 A CN106892019 A CN 106892019A
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- CN
- China
- Prior art keywords
- spring
- rotating shaft
- fixed
- chassis
- support bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotics, a kind of especially sniffing robot, including chassis and the roller being arranged on below chassis, the upper table on chassis offers spring cavity downwards, the bottom surface of spring cavity offers axis hole, rotating shaft is inserted with axis hole, flange is fixed with rotating shaft, the first spring is arranged with rotating shaft, first spring is located between flange and the bottom surface of spring cavity, end face bearing is provided between first spring and flange, the lower surface of flange is provided with some inserting columns, and the upper surface on chassis offers some jacks corresponding with inserting column；The upper side of rotating shaft is fixed with sliding sleeve, slided in sliding sleeve and be provided with support bar, the outer end end of support bar is fixed with iron plate, electromagnet is fixed with sliding sleeve, second spring is fixed between electromagnet and iron plate, sniffing robot of the present invention is automatic by side where brace to robot rollover during its rollover, and provides a force impact by support bar, so that chassis resets, so as to by robot righting.
Description
Technical field
The present invention relates to robotics, especially a kind of sniffing robot.
Background technology
Sniffing robot is that a class substitutes the robot that the mankind complete exploration and exploration task.With the development of science and technology, machine
Device people starts to substitute the mankind to complete high-risk or high-leveled and difficult task, and wherein sniffing robot can be taken the photograph by self-contained
The work under high-risk and high-leveled and difficult environment is completed as head and sensor, robot is susceptible to side in the task of execution by the influence of topography
Turn over, once robot turns on one's side, then cannot complete surveying tasks.
The content of the invention
The technical problem to be solved in the present invention is：In order to solve robot in the prior art landform shadow is received in the task of execution
Sound is susceptible to rollover, once robot turns on one's side, then cannot complete the problem of surveying tasks, now provides a kind of sniffing robot.
The technical solution adopted for the present invention to solve the technical problems is：A kind of sniffing robot, including chassis and setting
Roller below chassis, the upper table on the chassis offers spring cavity downwards, and the bottom surface of the spring cavity offers axis hole,
Rotating shaft is inserted with the axis hole, flange is fixed with the rotating shaft, the first spring, first bullet are arranged with the rotating shaft
The elastic force direction of spring is consistent with the axis direction of rotating shaft, and first spring is located between flange and the bottom surface of spring cavity, described
Be provided with end face bearing between first spring and flange, the lower surface of the flange is provided with some inserting columns, the chassis it is upper
Surface offers some jacks corresponding with inserting column, and inserting column is plugged in jack, and the lower end of the rotating shaft passes through chassis, described
The lower end of rotating shaft is threaded with stop nut；
The upper side of the rotating shaft is fixed with to be slided in sliding sleeve, the sliding sleeve and is provided with support bar, the support bar
Outer end end is fixed with iron plate, and electromagnet is fixed with the sliding sleeve, and second spring is fixed between the electromagnet and iron plate,
The elastic force direction of the second spring is consistent with the elastic force direction of support bar；
The lower surface of the inserting column is fixed with the first contact, and the bottom hole of the jack is fixed with the second contact, described first
When contact and the second contact, electromagnet is powered.
Preferably, if being provided with dry bearing between the rotating shaft and axis hole.
Because robot is under non-acquisition mode, electromagnet dead electricity, the absorption that second spring loses electromagnet can be from compression
State restores to the original state, and further, lock screw is provided with the sliding sleeve, is offered on the support bar and the locking spiral shell
The screwed hole that nail matches, the lock screw is threadedly coupled with screwed hole, under robot non-working condition, by locking spiral shell
Be locked in support bar on sliding sleeve by mother, prevents support bar protruding, reduces the volume of robot, is easy to storage；Work as robot
When using, lock nut is outwarded winding from support bar.
The beneficial effects of the invention are as follows：Sniffing robot of the present invention is automatic by brace to machine during its rollover
Side where device people rollover, and provide a force impact by support bar so that chassis resets, so as to by robot righting.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the schematic diagram of sniffing robot of the present invention；
Fig. 2 is the close-up schematic view of A in Fig. 1；
Fig. 3 is the distribution schematic diagram of rotating shaft upper flange and inserting column in sniffing robot of the present invention；
Fig. 4 is schematic diagram when sniffing robot of the present invention is turned on one's side；
Fig. 5 is the close-up schematic view of B in Fig. 4.
In figure：1st, chassis, 1-1, spring cavity, 1-2, jack, 2, roller, 3, rotating shaft, 3-1, flange, 3-2, inserting column, 4,
One spring, 5, end face bearing, 6, stop nut, 7, sliding sleeve, 8, support bar, 8-1, iron plate, 9, electromagnet, 10, second spring,
11st, the first contact, the 12, second contact, 13, bearing, 14, lock screw.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention, direction and reference (for example,
Upper and lower, left and right, etc.) can be only used for helping the description to the feature in accompanying drawing.Therefore, not adopted in restrictive, sense
With detailed description below, and claimed theme is only limited by appended claims and its equivalents
Scope.
Embodiment 1
As Figure 1-5, a kind of sniffing robot, including chassis 1 and the roller 2 being arranged on below chassis 1, chassis 1
Four sides are provided with camera and sensor for detecting, and the upper table on chassis 1 offers spring cavity 1-1, spring cavity downwards
The bottom surface of 1-1 offers axis hole, and rotating shaft 3 is inserted with axis hole, and flange 3-1 is fixed with rotating shaft 3, and first is arranged with rotating shaft 3
Spring 4, the elastic force direction of the first spring 4 is consistent with the axis direction of rotating shaft 3, and the first spring 4 is located at flange 3-1 and spring cavity 1-
Between 1 bottom surface, end face bearing 5 is provided between the first spring 4 and flange 3-1, the lower surface of flange 3-1 is provided with some inserting
Post 3-2, the upper surface on chassis 1 offers some jack 1-2s corresponding with inserting column 3-2, and inserting column 3-2 is plugged in jack 1-2,
The lower end of rotating shaft 3 passes through chassis 1, and the lower end of rotating shaft 3 is threaded with stop nut 6, and stop nut 6 can prevent rotating shaft 3
Depart from chassis 1；
The upper side of rotating shaft 3 is fixed with to be slided in sliding sleeve 7, sliding sleeve 7 and is provided with support bar 8, the outer end end of support bar 8
Iron plate 8-1 is fixed with, electromagnet 9 is fixed with sliding sleeve 7, second spring 10, second are fixed between electromagnet 9 and iron plate 8-1
The elastic force direction of spring 10 is consistent with the elastic force direction of support bar 8, and second spring 10 is made of nonmagnetic substance, support bar 8
It is inclined upwardly from the inside to the outside, when chassis 1 is turned on one's side, the countershaft 3 of support bar 8 has a thrust for horizontal direction, is conducive to chassis 1
Reset；
The lower surface of inserting column 3-2 is fixed with the first contact 11, and the bottom hole of jack 1-2 is fixed with the second contact 12, and first touches
When point 11 and the second contact 12 contact, electromagnet 9 is powered, and electromagnet 9 is connected by wire with system power supply, the He of the first contact 11
Second contact 12 is connected on wire.
If being provided with dry bearing 13 between rotating shaft 3 and axis hole, rotating shaft 3 can be slided with respect to the inner ring of bearing 13.
Lock screw 14 is provided with sliding sleeve 7, the screwed hole matched with lock screw 14 is offered on support bar 8, locked
Determine screw 14 to be threadedly coupled with screwed hole, under robot non-working condition, support bar 8 is locked in by sliding sleeve by lock nut
On 7, prevent support bar 8 protruding, reduce the volume of robot, be easy to storage；When robot is used, by lock nut from
Outwarded winding on support bar 8.
The operation principle of above-mentioned sniffing robot is as follows：
When robot runs, electromagnet 9 is powered, and, in normal movement, rotating shaft 3 is in its body gravity and sliding sleeve for sniffing robot
7th, the first compression downwards of spring 4 is caused under being acted under the gravity of electromagnet 9 and support bar 8, while the inserting column 3-2 on flange 3-1
In inserting the One On The Chassis jack 1-2 so that rotating shaft 3 is radially fixed, stability when robot is moved is improved, when machine human hair
Life turn over, when robot turns on one's side, during rollover, the run-off the straight of chassis 1, now the first spring 4 lose rotating shaft 3,
The Action of Gravity Field to it of sliding sleeve 7, electromagnet 9 and support bar 8, the first spring 4 can by rotating shaft 3 outwards eject, inserting column 3-2 with insert
Hole 1-2 is separated, and the side sliding sleeve 7 of rotating shaft 3 and support bar 8 drive rotating shaft 3 to rotate so that support bar 8 is located in the presence of deadweight
Side where the rollover of chassis 1, at the same time the first contact 11 on inserting column 3-2 separated with the second contact 12 of jack 1-2 bottoms, it is electric
The dead electricity of magnet 9, support bar 8 is outwards ejected in the presence of second spring 10, is realized during robot turns on one's side, support bar
8 are against the ground of side where robot rollover, and provide a force impact so that chassis 1 resets, so as to robot be helped
Just；After robot righting, vibration when being moved with robot, rotating shaft 3 can rotate, when inserting column 3-2 aligns with jack 1-2
When, rotating shaft 3 causes that the first spring 4 is pressed downward under being acted under the gravity of its body gravity and sliding sleeve 7, electromagnet 9 and support bar 8
Contracting, while during inserting column 3-2 on flange 3-1 inserts the One On The Chassis jack 1-2 so that rotating shaft 3 is radially fixed, while first touches
Point 11 is contacted with the second contact 12, and electromagnet 9 is powered, and the iron plate 8-1 in support is under the absorption of electromagnet 9 so that the second bullet
The retracted for clearance of spring 10.
Above-mentioned is enlightenment according to desirable embodiment of the invention, and by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (3)
1. a kind of sniffing robot, including chassis (1) and the roller (2) being arranged on below chassis (1), it is characterised in that：It is described
The upper table on chassis (1) offers spring cavity (1-1) downwards, and the bottom surface of the spring cavity (1-1) offers axis hole, the axis hole
Rotating shaft (3) is inside inserted with, flange (3-1) is fixed with the rotating shaft (3), the first spring (4) is arranged with the rotating shaft (3),
The elastic force direction of first spring (4) is consistent with the axis direction of rotating shaft (3), and first spring (4) is positioned at flange (3-1)
And the bottom surface of spring cavity (1-1) between, end face bearing (5) is provided between first spring (4) and flange (3-1), it is described
The lower surface of flange (3-1) is provided with some inserting columns (3-2), and the upper surface of the chassis (1) offers some and inserting column (3-2)
Corresponding jack (1-2), inserting column (3-2) is plugged in jack (1-2), and the lower end of the rotating shaft (3) passes through chassis (1), institute
The lower end for stating rotating shaft (3) is threaded with stop nut (6)；
The upper side of the rotating shaft (3) is fixed with to be slided in sliding sleeve (7), the sliding sleeve (7) and is provided with support bar (8), described
The outer end end of support bar (8) is fixed with iron plate (8-1), and electromagnet (9), the electromagnet (9) are fixed with the sliding sleeve (7)
Second spring (10), the elastic force direction of the second spring (10) and the elastic force of support bar (8) are fixed between iron plate (8-1)
Direction is consistent；
The lower surface of the inserting column (3-2) is fixed with the first contact (11), and the bottom hole of the jack (1-2) is fixed with the second contact
(12) when, first contact (11) and the second contact (12) contact, electromagnet (9) is powered.
2. sniffing robot according to claim 1, it is characterised in that：The rotating shaft (3) and axis hole between if be provided with
Dry bearing (13).
3. sniffing robot according to claim 1, it is characterised in that：Lock screw is provided with the sliding sleeve (7)
(14), offer the screwed hole matched with the lock screw (14) on the support bar (8), the lock screw (14) with
Screwed hole is threadedly coupled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125319.0A CN106892019B (en) | 2017-03-04 | 2017-03-04 | Detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125319.0A CN106892019B (en) | 2017-03-04 | 2017-03-04 | Detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106892019A true CN106892019A (en) | 2017-06-27 |
| CN106892019B CN106892019B (en) | 2023-05-16 |
Family
ID=59185403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710125319.0A Active CN106892019B (en) | 2017-03-04 | 2017-03-04 | Detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106892019B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114899759A (en) * | 2022-06-24 | 2022-08-12 | 国网湖北省电力有限公司超高压公司 | Operation method for replacing insulator of high-voltage transmission line in live-line mode by robot |
| CN115071861A (en) * | 2022-08-22 | 2022-09-20 | 徐州必拓安全设备制造有限公司 | Police reconnaissance observation robot capable of preventing rollover |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2404595A1 (en) * | 2001-09-24 | 2003-03-24 | Angelo Sanchez | Vehicle anti-rollover device |
| CN101475032A (en) * | 2008-12-23 | 2009-07-08 | 深圳先进技术研究院 | Cane walking robot |
| US20110204609A1 (en) * | 2008-10-14 | 2011-08-25 | Mohamed Ahmed Gad Elkariem | Anti flipping mechanism |
| CN103802993A (en) * | 2012-11-02 | 2014-05-21 | 郭名全 | Enclosed motorcycle |
| CN203974978U (en) * | 2014-05-29 | 2014-12-03 | 叶尔达·赛力克 | Anti-rollover passenger vehicle |
| CN205256501U (en) * | 2015-12-22 | 2016-05-25 | 山东鲁班机械科技有限公司 | Emergency rescue robot |
| CN205989763U (en) * | 2016-08-23 | 2017-03-01 | 志丹县斯曼创新工贸有限公司 | A kind of installation of car for guarding against side turned over |
| CN206475968U (en) * | 2017-03-04 | 2017-09-08 | 苏州科技大学 | Sniffing robot |
-
2017
- 2017-03-04 CN CN201710125319.0A patent/CN106892019B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2404595A1 (en) * | 2001-09-24 | 2003-03-24 | Angelo Sanchez | Vehicle anti-rollover device |
| US20110204609A1 (en) * | 2008-10-14 | 2011-08-25 | Mohamed Ahmed Gad Elkariem | Anti flipping mechanism |
| CN101475032A (en) * | 2008-12-23 | 2009-07-08 | 深圳先进技术研究院 | Cane walking robot |
| CN103802993A (en) * | 2012-11-02 | 2014-05-21 | 郭名全 | Enclosed motorcycle |
| CN203974978U (en) * | 2014-05-29 | 2014-12-03 | 叶尔达·赛力克 | Anti-rollover passenger vehicle |
| CN205256501U (en) * | 2015-12-22 | 2016-05-25 | 山东鲁班机械科技有限公司 | Emergency rescue robot |
| CN205989763U (en) * | 2016-08-23 | 2017-03-01 | 志丹县斯曼创新工贸有限公司 | A kind of installation of car for guarding against side turned over |
| CN206475968U (en) * | 2017-03-04 | 2017-09-08 | 苏州科技大学 | Sniffing robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114899759A (en) * | 2022-06-24 | 2022-08-12 | 国网湖北省电力有限公司超高压公司 | Operation method for replacing insulator of high-voltage transmission line in live-line mode by robot |
| CN114899759B (en) * | 2022-06-24 | 2024-01-19 | 国网湖北省电力有限公司超高压公司 | Operation method for robot live replacement of high-voltage transmission line insulator |
| CN115071861A (en) * | 2022-08-22 | 2022-09-20 | 徐州必拓安全设备制造有限公司 | Police reconnaissance observation robot capable of preventing rollover |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106892019B (en) | 2023-05-16 |
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| GR01 | Patent grant |